Festo HGPPI Series, Инструкция по эксплуатации

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5. Programming
5−30
Festo P.BE−HGPPI−PB−E N en 0605NH
5.4.5 Rules for command execution
·
At the start of the function, the input setpoint values are
checked against the minimum and maximum permissible
setpoint values (system parameter subindices 9
Ū
16).
If there is a limit violation, the corresponding error is ge
nerated. If the input setpoint values are within the defined
permissible setpoint value limits, but are outside of the
real reachable limits for the gripper jaw (position setpoint
values: 0
Ū
1000, force desired v alues 850
Ū
+850), an
internal limit is made to the minimum/maximum values of
the gripper jaws. In this case, no error is generated, and
the adaptation is carried out automatically.
·
In the transition from a two−jaw command (functions
30
Ū
35) to a single jaw command (functions 10
Ū
17 as
well as single jaw stop), both gripper jaws first go into
position control with desired position = current actual
position.
·
The position tolerance is with respect to the position of
a single jaw, respectively, i.e. when the mid−point and
opening are specified, the tolerance of the opening is
double the specified position tolerance.
·
The specification of the position tolerance factor has a
global effect, i.e.: If a position tolerance factor is specified
for a single jaw command, this also applies for the non−
addressed gripper jaw starting at the transition time.
·
The following HGPPI−... functions are internally monitored
with a time−out time of 1 second:
Initialization (after switch−on or parameterisation)
Two−jaw stop
Error reset
If a time−out is determined, no error is generated.
The HGPPI−... is ready for new commands again.
The user can recognize the situation by the fact that
Motion Complete" is not set within 1 second for these
functions.